Multi-robot patrolling is known to be challenging, especially in a decentralized manner. The state-of-the-art de-centralized approaches are either suboptimal or usually require exchange of information that would potentially limit their scalability. This paper presents a novel decentralized approach of high scalability and robustness to multi- UAV persistent surveillance. Our solution decentralizes a cyclic strategy while considering communication constraints. We give a theoretical derivation of the decentralized algorithm with convergence analysis. In addition, we consider practical issues such as motion constraints and potential livelocks in our implementation. The proposed approach is extensively tested and analyzed in a medium-fidelity swarm simulator to minimize the gap between simulation and real experiments.
A Highly Scalable, Robust and Decentralized Approach for Multi-UAV Persistent Surveillance
04.06.2024
4736561 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Dynamic Replanning for Multi-UAV Persistent Surveillance
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